IAI MCON-C, Instruction Manual

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196
„
Sample use
No.
Position
[mm]
Velocity
[mm/s]
Accele-
ration
[G]
Decele-
ration
[G]
Pressing
[%]
Thresh-
old
[%]
Positioning
width
[mm]
Zone+
[mm]
Zone-
[mm]
Acceleration/
Deceleration
mode
Incre-
mental
Gain
set
Stop
mode
0
1 70.00 100.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
2 150.00 200.00 0.20 0.20 0 0 0.10 0.00 0.00 0 0 0 0
„
Control method
1) First enter command position No. PC1 to PC** with binary data. Next turn start signal
CSTR ON. Then the actuator starts acceleration depending on the data in the specified
position table for positioning to the target position.
2) At operation start, positioning complete signal PEND is turned OFF. Always turn the
CSTR signal OFF. Without it, the completed position number is not output and the
positioning complete signal is not turned ON at the completion of positioning.
3) When the positioning is completed, the positioning complete position numbers are output
from complete position No.PM1 to PM** with binary data and also positioning complete
signal PEND is turned ON.
4) The moving signal MOVE turns ON at the same time as the operation starts, and turns
OFF once the positioning complete signal PEND turns ON or the movement command
output completes.
5) Positioning complete signal PEND is turned ON if the remaining moving distance enters
into the positioning width. PEND Signal will be kept ON once it is turned ON unless the
start signal CSTR is turned back ON, servo is turned OFF
(Note 1)
or the actuator is out of
the positioning band width range
(Note 1)
.
Note 1 It can be switched over with Parameter No.39.
Used for door
open/close
Used for pick & place unit
Work carriage, movement, etc Usage
Deceleration
Stop
status
Position 1
Acceleration
2) 3) 1) 4)
5)
Velocity
Time
Acceleration Deceleration
Position 2
6) 7) 8)
2) 3) 1) 4) 5) 6) 7) 8)
200mm/sec
100mm/sec
Moving
comp.
Positioning
completion
signal output
Start signal
input (moving
start)
Position 1 input
Moving
comp.
Positioning
completion
signal output
Start signal
input (moving
start)
Position 2 input
3.8 Control and functions of Input and output signals of Remote I/O Mode